quickaxe / cliffhangermobo

code for my race bot named Cliffhanger

Code for my race robot for competitive Indian robotics.

The 'robot' is a manually controlled vehicle that has good off-road capabilities, named "Cliffhanger". It uses a tank style steering, and uses tank treads (or belts). It is modular, and is also used for "pick and place" competitions.

This code handles the ESC functions, and includes active stabalisation, using a 6050 MPU.

In my case, I uploaded it to an ardunio pro mini, but any arduino should work, theoretically. The motor drivers used here are a pair of BTS7960 h-bridge modules, but any dual h-bridge can be used, so long as it can handle the current and voltage requirements.

Pinout

Inputs :

direction -> D2

throttle -> D3

MPU-6050 SDA -> A4

MPU-6050 SCL -> A5

Gain Pot -> A0

(Gain pot is used to set the gain value)

Outputs:

R_Rpwm -> D5

R_Lpwm -> D6

L_Rpwm -> D9

L_Lpwm -> D10

References Used

For reading rc signals using hardware interrupts : kelvineyeone : read pwm, decode rc receiver input and apply fail safe

For applying corrections using the MPU: MRSC_Adapter_3Pin_Servo